Table 26: TD3+BC, IQL and ReBRAC Expected Online Performance under uniform policy selection on Hopper tasks.
random	medium	expert	medium-expert	medium-replex	full-replex
Policies	T3D+BC	IQL	ReBRAC	T3D+BC	IQL	ReBRAC	T3D+BC	IQL	ReBRAC	T3D+BC	IQL	ReBRAC	T3D+BC	IQL	ReBRAC	T3D+BC	IQL	ReBRAC
1	8.3 ± 4.5	7.5 ± 1.3	7.5 ± 0.9	39.8 ± 33.0	59.0 ± 4.9	69.5 ± 32.6	72.2 ± 47.1	96.6 ± 17.3	55.0 ± 40.5	45.5 ± 43.3	83.4 ± 28.4	68.2 ± 28.9	68.2 ± 27.8	68.2 ± 28.4	68.2 ± 27.8	94.3 ± 20.8	96.7 ± 17.8
2	10.6 ± 4.1	8.0 ± 1.4	8.0 ± 0.9	57.7 ± 21.9	61.8 ± 2.9	68.5 ± 32.2	66.2 ± 32.2	80.8 ± 18.9	60.1 ± 39.8	98.1 ± 29.3	98.1 ± 29.8	70.7 ± 28.9	78.1 ± 28.9	83.4 ± 28.9	83.4 ± 28.9	104.7 ± 17.4	104.7 ± 17.4
3	12.2 ± 3.7	8.4 ± 1.6	8.1 ± 0.4	66.5 ± 20.8	63.1 ± 3.2	92.8 ± 12.8	105.0 ± 20.6	109.0 ± 6.4	90.8 ± 22.1	90.9 ± 26.5	104.1 ± 11.8	91.8 ± 23.8	74.0 ± 7.1	85.2 ± 14.2	96.1 ± 16.6	92.2 ± 22.0	106.2 ± 4.7	106.2 ± 3.4
4	13.1 ± 3.4	8.3 ± 1.4	8.2 ± 0.9	71.4 ± 15.3	63.7 ± 1.5	63.5 ± 1.5	108.4 ± 13.0	110.6 ± 10.7	96.8 ± 13.3	106.0 ± 11.8	106.0 ± 11.8	96.8 ± 13.3	75.6 ± 5.3	88.8 ± 13.8	93.5 ± 14.8	107.0 ± 18.8	107.0 ± 18.8	107.0 ± 18.8
5	13.7 ± 3.1	8.9 ± 1.8	8.3 ± 0.2	74.4 ± 13.3	64.5 ± 2.6	97.7 ± 7.3	109.8 ± 8.2	111.0 ± 2.7	98.7 ± 11.8	100.2 ± 14.6	108.1 ± 6.1	101.0 ± 14.3	76.5 ± 4.0	90.8 ± 9.9	95.8 ± 10.8	105.3 ± 1.5	107.3 ± 1.5	107.3 ± 1.5
6	9.2 ± 1.8	8.3 ± 0.2	64.9 ± 2.4	98.5 ± 5.9	111.4 ± 2.8	100.3 ± 8.9	108.9 ± 4.5	105.2 ± 11.4	92.3 ± 8.7	97.0 ± 6.1	107.5 ± 1.1	107.4 ± 0.9
7	9.5 ± 1.4	8.3 ± 0.2	66.5 ± 3.9	95.5 ± 5.5	111.1 ± 2.9	105.7 ± 6.9	109.5 ± 3.9	105.4 ± 10.4	93.5 ± 7.7	97.0 ± 6.1	107.5 ± 1.1	107.4 ± 0.9
8	9.5 ± 1.8	8.4 ± 0.2	65.5 ± 2.0	100.2 ± 4.2	111.8 ± 1.2	102.1 ± 5.5	109.8 ± 2.8	105.8 ± 7.8	94.4 ± 6.8	98.1 ± 3.4	107.8 ± 0.8	107.5 ± 0.5
9	9.5 ± 1.8	8.4 ± 0.2	65.5 ± 2.0	100.6 ± 3.6	111.1 ± 1.0	102.7 ± 4.6	109.8 ± 2.8	105.6 ± 6.7	95.0 ± 2.9	98.1 ± 2.6	107.8 ± 0.8	107.5 ± 0.5
10	9.9 ± 1.8	8.4 ± 0.2	65.9 ± 1.7	100.9 ± 3.1	112.0 ± 0.9	103.1 ± 3.9	110.3 ± 2.2	107.3 ± 5.8	95.6 ± 5.3	98.6 ± 2.1	107.9 ± 0.7	107.6 ± 0.4
11	10.6 ± 1.4	8.4 ± 0.2	66.1 ± 2.1	101.1 ± 3.1	112.0 ± 1.1	103.2 ± 3.5	110.3 ± 2.4	108.4 ± 4.1	96.0 ± 9.1	98.1 ± 3.4	108.6 ± 0.7	108.6 ± 0.4
12	10.1 ± 1.8	8.4 ± 0.1	66.2 ± 1.5	101.3 ± 2.3	112.1 ± 0.7	103.7 ± 3.2	110.6 ± 1.9	108.1 ± 4.5	96.3 ± 4.1	98.9 ± 1.5	108.0 ± 0.6	107.7 ± 0.3
13	10.2 ± 1.7	8.4 ± 0.1	66.3 ± 1.4	101.5 ± 2.0	112.2 ± 0.7	103.9 ± 2.9	110.7 ± 1.8	108.4 ± 4.0	96.5 ± 3.6	99.0 ± 1.4	108.1 ± 0.5	107.7 ± 0.2
14	10.8 ± 1.4	8.4 ± 0.1	66.6 ± 1.3	101.6 ± 2.7	112.2 ± 1.0	103.7 ± 4.6	110.7 ± 1.6	108.6 ± 6.7	96.9 ± 3.2	98.1 ± 2.6	108.1 ± 0.5	107.7 ± 0.4
15	10.4 ± 1.7	8.4 ± 0.1	66.5 ± 1.3	101.7 ± 1.6	112.2 ± 0.6	104.3 ± 2.6	110.9 ± 1.7	108.9 ± 3.3	96.9 ± 2.8	99.1 ± 1.1	108.1 ± 0.5	107.7 ± 0.2
16	10.0 ± 1.4	8.5 ± 0.1	66.6 ± 1.2	100.7 ± 2.2	112.2 ± 0.6	104.4 ± 2.5	111.0 ± 1.4	108.4 ± 4.0	97.0 ± 2.9	99.0 ± 1.1	108.0 ± 0.5	107.7 ± 0.2
17	10.6 ± 1.6	8.5 ± 0.1	66.6 ± 1.2	101.9 ± 1.3	112.3 ± 0.5	104.6 ± 2.4	111.1 ± 1.7	109.3 ± 2.7	97.1 ± 2.2	99.3 ± 1.0	108.2 ± 0.4	107.7 ± 0.1
18	10.7 ± 1.5	8.5 ± 0.1	66.7 ± 1.1	101.9 ± 1.2	112.3 ± 0.5	104.7 ± 2.3	111.2 ± 1.7	109.4 ± 2.5	97.2 ± 1.9	99.3 ± 1.0	108.2 ± 0.4	107.7 ± 0.1
19	10.6 ± 1.5	8.5 ± 0.1	66.7 ± 1.2	101.2 ± 1.6	112.2 ± 0.5	104.2 ± 2.3	111.2 ± 1.7	109.5 ± 2.3	97.3 ± 1.9	99.3 ± 0.9	108.2 ± 0.5	107.7 ± 0.2
20	10.8 ± 1.5	8.5 ± 0.1	66.8 ± 1.0	102.0 ± 1.0	112.4 ± 0.5	104.9 ± 2.1	111.3 ± 1.6	109.6 ± 2.1	97.3 ± 1.5	99.4 ± 0.9	108.2 ± 0.3	107.7 ± 0.1